darknet_ros
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Published
20 hours ago •
leggedrobotics
leggedrobotics
colcon build failed under foxy : cannot find -ldarknet_ros_core_lib
Describe the bug
Hi,
So I am new to this and trying to build darknet_ros. I have build it under the foxy branch.
I have encoutered many syntax error such as show_image not getting enough parameters in attention.c, and show_image_cv having declaration conflicts.
I fixed them by either commenting show_image in attention.c and change
extern "C" void show_image_cv(image p, const char *name, IplImage *disp) to
extern "C" void show_image_cv_cp(image p, const char *name, IplImage *disp) in YoloObjectDetector.hpp;
I dont know if the changes are related to my error but wanted to let you guys know in case. here is the error message
/usr/bin/ld: cannot find -ldarknet_ros_core_lib
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/darknet_ros.dir/build.make:303: darknet_ros] Error 1
make[1]: *** [CMakeFiles/Makefile2:87: CMakeFiles/darknet_ros.dir/all] Error 2
make: *** [Makefile:146: all] Error 2
Summary: 0 package finished
1 package failed: darknet_ros
1 package had stderr output: darknet_ros
To Reproduce Steps to reproduce the behavior: colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
System (please complete the following information):
- OS: Ubuntu 20.04
- ROS version: Foxy
- GPU ; NVidia GTX 1080
Can anyone help me please ? I have looked and cant find the library ldarknet_ros_core_lib
What version of Opencv and CUDA are you using... :eyes: ?
If you are using OpenCV4, Please use OpenCV3 or use my darknet_ros_fp16.
As my commentary page shows, replacing it with darknet (YOLO v3), which supports OpenCV4, will also solve the problem. (I know it's hard to read in Japanese. Sorry)
@Ar-Ray-code will your code work with the ZED camera ? Update: I just tried your darknet_ros_fp16. here is the error message
le@le-vm:~/ros2_ws_2$ ros2 launch darknet_ros demo-v4-tiny.launch.py
[INFO] [launch]: All log files can be found below /home/le/.ros/log/2021-07-20-13-06-57-031596-le-vm-15728
[INFO] [launch]: Default logging verbosity is set to INFO
/home/le/ros2_ws_2/install/darknet_ros/share/darknet_ros/launch/demo-v4-tiny.launch.py:41: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
darknet_ros_cmd = Node(
/home/le/ros2_ws_2/install/darknet_ros/share/darknet_ros/launch/demo-v4-tiny.launch.py:41: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
darknet_ros_cmd = Node(
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:274> exception=PackageNotFoundError("package 'v4l2_camera' not found, searching: ['/home/le/ros2_ws_2/install/darknet_ros', '/home/le/ros2_ws_2/install/darknet_ros_msgs', '/home/le/test/install/openrobotics_darknet_ros', '/opt/ros/foxy']")>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 49, in get_package_prefix
content, package_prefix = get_resource('packages', package_name)
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
raise LookupError(
LookupError: Could not find the resource 'v4l2_camera' of type 'packages'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 276, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 296, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
[Previous line repeated 1 more time]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 426, in execute
ret = super().execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 823, in execute
self.__expand_substitutions(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in __expand_substitutions
cmd = [perform_substitutions(context, x) for x in self.__cmd]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in <listcomp>
cmd = [perform_substitutions(context, x) for x in self.__cmd]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
return ''.join([context.perform_substitution(sub) for sub in subs])
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
return ''.join([context.perform_substitution(sub) for sub in subs])
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 197, in perform_substitution
return substitution.perform(self)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/executable_in_package.py", line 76, in perform
package_prefix = super().perform(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 79, in perform
result = self.find(package)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 96, in find
return get_package_prefix(package_name)
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 51, in get_package_prefix
raise PackageNotFoundError(
ament_index_python.packages.PackageNotFoundError: "package 'v4l2_camera' not found, searching: ['/home/le/ros2_ws_2/install/darknet_ros', '/home/le/ros2_ws_2/install/darknet_ros_msgs', '/home/le/test/install/openrobotics_darknet_ros', '/opt/ros/foxy']"
Task exception was never retrieved
future: <Task finished name='Task-8' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:274> exception=RuntimeError('Signal event received before subprocess transport available.')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 276, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 296, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/opaque_function.py", line 75, in execute
return self.__function(context, *self.__args, **self.__kwargs)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 443, in __on_signal_process_event
raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [darknet_ros-1]: process started with pid [15730]
[darknet_ros-1] [INFO] [1626800817.258048154] [darknet_ros]: [YoloObjectDetector] Node started.
[darknet_ros-1] [INFO] [1626800817.258942372] [darknet_ros]: [YoloObjectDetector] Xserver is running.
[darknet_ros-1] [INFO] [1626800817.258970104] [darknet_ros]: [YoloObjectDetector] init().
[darknet_ros-1] 0 : compute_capability = 610, cudnn_half = 0, GPU: NVIDIA GeForce GTX 1060 6GB
[darknet_ros-1] layer filters size/strd(dil) input output
[darknet_ros-1] 0 conv 32 3 x 3/ 2 416 x 416 x 3 -> 208 x 208 x 32 0.075 BF
[darknet_ros-1] 1 conv 64 3 x 3/ 2 208 x 208 x 32 -> 104 x 104 x 64 0.399 BF
[darknet_ros-1] 2 conv 64 3 x 3/ 1 104 x 104 x 64 -> 104 x 104 x 64 0.797 BF
[darknet_ros-1] 3 route 2 1/2 -> 104 x 104 x 32
[darknet_ros-1] 4 conv 32 3 x 3/ 1 104 x 104 x 32 -> 104 x 104 x 32 0.199 BF
[darknet_ros-1] 5 conv 32 3 x 3/ 1 104 x 104 x 32 -> 104 x 104 x 32 0.199 BF
[darknet_ros-1] 6 route 5 4 -> 104 x 104 x 64
[darknet_ros-1] 7 conv 64 1 x 1/ 1 104 x 104 x 64 -> 104 x 104 x 64 0.089 BF
[darknet_ros-1] 8 route 2 7 -> 104 x 104 x 128
[darknet_ros-1] 9 max 2x 2/ 2 104 x 104 x 128 -> 52 x 52 x 128 0.001 BF
[darknet_ros-1] 10 conv 128 3 x 3/ 1 52 x 52 x 128 -> 52 x 52 x 128 0.797 BF
[darknet_ros-1] 11 route 10 1/2 -> 52 x 52 x 64
[darknet_ros-1] 12 conv 64 3 x 3/ 1 52 x 52 x 64 -> 52 x 52 x 64 0.199 BF
[darknet_ros-1] 13 conv 64 3 x 3/ 1 52 x 52 x 64 -> 52 x 52 x 64 0.199 BF
[darknet_ros-1] 14 route 13 12 -> 52 x 52 x 128
[darknet_ros-1] 15 conv 128 1 x 1/ 1 52 x 52 x 128 -> 52 x 52 x 128 0.089 BF
[darknet_ros-1] 16 route 10 15 -> 52 x 52 x 256
[darknet_ros-1] 17 max 2x 2/ 2 52 x 52 x 256 -> 26 x 26 x 256 0.001 BF
[darknet_ros-1] 18 conv 256 3 x 3/ 1 26 x 26 x 256 -> 26 x 26 x 256 0.797 BF
[darknet_ros-1] 19 route 18 1/2 -> 26 x 26 x 128
[darknet_ros-1] 20 conv 128 3 x 3/ 1 26 x 26 x 128 -> 26 x 26 x 128 0.199 BF
[darknet_ros-1] 21 conv 128 3 x 3/ 1 26 x 26 x 128 -> 26 x 26 x 128 0.199 BF
[darknet_ros-1] 22 route 21 20 -> 26 x 26 x 256
[darknet_ros-1] 23 conv 256 1 x 1/ 1 26 x 26 x 256 -> 26 x 26 x 256 0.089 BF
[darknet_ros-1] 24 route 18 23 -> 26 x 26 x 512
[darknet_ros-1] 25 max 2x 2/ 2 26 x 26 x 512 -> 13 x 13 x 512 0.000 BF
[darknet_ros-1] 26 conv 512 3 x 3/ 1 13 x 13 x 512 -> 13 x 13 x 512 0.797 BF
[darknet_ros-1] 27 conv 256 1 x 1/ 1 13 x 13 x 512 -> 13 x 13 x 256 0.044 BF
[darknet_ros-1] 28 conv 512 3 x 3/ 1 13 x 13 x 256 -> 13 x 13 x 512 0.399 BF
[darknet_ros-1] 29 conv 255 1 x 1/ 1 13 x 13 x 512 -> 13 x 13 x 255 0.044 BF
[darknet_ros-1] 30 yolo
[darknet_ros-1] [yolo] params: iou loss: ciou (4), iou_norm: 0.07, obj_norm: 1.00, cls_norm: 1.00, delta_norm: 1.00, scale_x_y: 1.05
[darknet_ros-1] 31 route 27 -> 13 x 13 x 256
[darknet_ros-1] 32 conv 128 1 x 1/ 1 13 x 13 x 256 -> 13 x 13 x 128 0.011 BF
[darknet_ros-1] 33 upsample 2x 13 x 13 x 128 -> 26 x 26 x 128
[darknet_ros-1] 34 route 33 23 -> 26 x 26 x 384
[darknet_ros-1] 35 conv 256 3 x 3/ 1 26 x 26 x 384 -> 26 x 26 x 256 1.196 BF
[darknet_ros-1] 36 conv 255 1 x 1/ 1 26 x 26 x 256 -> 26 x 26 x 255 0.088 BF
[darknet_ros-1] 37 yolo
[darknet_ros-1] [yolo] params: iou loss: ciou (4), iou_norm: 0.07, obj_norm: 1.00, cls_norm: 1.00, delta_norm: 1.00, scale_x_y: 1.05
[darknet_ros-1] Total BFLOPS 6.910
[darknet_ros-1] avg_outputs = 310203
[darknet_ros-1] Allocate additional workspace_size = 26.22 MB
[darknet_ros-1] YOLO V3
[darknet_ros-1] Try to load cfg: /home/le/ros2_ws_2/install/darknet_ros/share/darknet_ros/yolo_network_config/cfg/yolov4-tiny.cfg, clear = 0
[darknet_ros-1] net.optimized_memory = 0
[darknet_ros-1] mini_batch = 1, batch = 1, time_steps = 1, train = 1
[darknet_ros-1] Create CUDA-stream - 0
[darknet_ros-1] Create cudnn-handle 0
[darknet_ros-1] nms_kind: greedynms (1), beta = 0.600000
[darknet_ros-1] nms_kind: greedynms (1), beta = 0.600000
[darknet_ros-1] Try to load weights: /home/le/ros2_ws_2/install/darknet_ros/share/darknet_ros/yolo_network_config/weights/yolov4-tiny.weights
[darknet_ros-1] Loading weights from /home/le/ros2_ws_2/install/darknet_ros/share/darknet_ros/yolo_network_config/weights/yolov4-tiny.weights...Done! Loaded 38 layers from weights-file
[ERROR] [darknet_ros-1]: process[darknet_ros-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [darknet_ros-1]: sending signal 'SIGTERM' to process[darknet_ros-1]
[ERROR] [darknet_ros-1]: process has died [pid 15730, exit code -15, cmd '/home/le/ros2_ws_2/install/darknet_ros/lib/darknet_ros/darknet_ros --ros-args -r __node:=darknet_ros -r __node:=darknet_ros --params-file /home/le/ros2_ws_2/install/darknet_ros/share/darknet_ros/config/ros.yaml --params-file /home/le/ros2_ws_2/install/darknet_ros/share/darknet_ros/config/yolov4-tiny.yaml --params-file /tmp/launch_params_he_lw40c'].
I'm curious about the message in LookupError: Could not find the resource 'v4l2_camera' of type 'packages'.
Did you try $ sudo apt install ros-foxy-v4l2-camera ?
ZED2 Stereo camera is not supported. I want to support it in the future...
However, it is possible to transfer images by connecting topics using zed_ros_wrapper.
Thank you for your feedback. 🙇
I am having the same error as below
/usr/bin/ld: cannot find -ldarknet_ros_core_lib
Have opencv3.4.11 installed with CUDA-11.6 Running Ubuntu 20.04 and apt installed ROS 2 foxy Also set -O3 -gencode arch=compute_62,code=sm_62 for nvcc flags Any suggestions?
